# Communication imports
from pyniryo2.robot_commander import RobotCommander
from pyniryo2.objects import PoseObject
from .services import SavedPosesServices
[docs]class SavedPoses(RobotCommander):
# --- Public functions --- #
def __init__(self, client):
super(SavedPoses, self).__init__(client)
self._services = SavedPosesServices(self._client)
[docs] def get_pose_saved(self, pose_name):
"""
Get pose saved in from Ned's memory
Examples: ::
pose = saved_poses.get_pose_saved("pose1")
:param pose_name: Pose name in robot's memory
:type pose_name: str
:return: Pose associated to pose_name
:rtype: PoseObject
"""
self._check_type(pose_name, str)
req = self._services.get_saved_pose_request(pose_name)
resp = self._services.get_pose_service.call(req)
self._check_result_status(resp)
return self._services.get_saved_pose_response_to_pose(resp)
[docs] def save_pose(self, pose_name, *args):
"""
Save pose (x, y, z, roll, pitch, yaw) in robot's memory
Examples: ::
saved_poses.save_pose("pose1", 0.3, 0.0, 0.3, 0.0, 1.57, 0.0)
saved_poses.save_pose("pose1", [0.3, 0.0, 0.3, 0.0, 1.57, 0.0])
saved_poses.save_pose("pose1", PoseObject(0.3, 0.0, 0.3, 0.0, 1.57, 0.0))
:type pose_name: str
:param args: either 6 args (1 for each coordinates) or a list of 6 coordinates or a PoseObject
:type args: Union[list[float], tuple[float], PoseObject]
:rtype: None
"""
self._check_type(pose_name, str)
req = self._services.save_pose_request(pose_name, self._args_pose_to_list(*args))
resp = self._services.manage_pose_service.call(req)
self._check_result_status(resp)
[docs] def delete_pose(self, pose_name):
"""
Delete pose from robot's memory
Examples: ::
if "pose1" in saved_poses.get_saved_pose_list():
saved_poses.delete_pose("pose1")
:type pose_name: str
:rtype: None
"""
self._check_type(pose_name, str)
req = self._services.delete_pose_request(pose_name)
resp = self._services.manage_pose_service.call(req)
self._check_result_status(resp)
[docs] def get_saved_pose_list(self):
"""
Get list of poses' name saved in robot memory
Examples: ::
>> print(saved_poses.get_saved_pose_list())
["pose1", "pose2", "pose3"]
:rtype: list[str]
"""
req = self._services.get_pose_list_request()
resp = self._services.get_pose_list_service.call(req)
return self._services.get_saved_pose_list_response_to_list(resp)
